Learning to assemble objects with a robot swarm

Gebhardt, Gregor H. W., Daun, Kevin, Schnaubelt, Marius , Hendrich, Alexander, Kauth, Daniel and Neumann, Gerhard (2017) Learning to assemble objects with a robot swarm. In: Proceedings of the 16th Conference on Autonomous Agents and MultiAgent Systems (AAMAS 17), May 08 - 12, 2017, São Paulo, Brazil.

Extended abstract
LearningToAssembleObjectsWithARobotSwarm.pdf - Abstract

Item Type:Conference or Workshop contribution (Poster)
Item Status:Live Archive


Large populations of simple robots can solve complex tasks, but controlling them is still a challenging problem, due to limited communication and computation power. In order to assemble objects, have shown that a human controller can solve such a task. Instead, we investigate how to learn the assembly of multiple objects with a single central controller. We propose splitting the assembly process in two sub-tasks -- generating a top-level assembly policy and learning an object movement policy. The assembly policy plans the trajectories for each object and the object movement policy controls the trajectory execution.The resulting system is able to solve assembly tasks with varying object shapes being assembled as shown in multiple simulation scenarios.

Additional Information:Extended abstract
Keywords:robot swarms
Subjects:G Mathematical and Computer Sciences > G760 Machine Learning
Divisions:College of Science > School of Computer Science
Related URLs:
ID Code:28089
Deposited On:04 Aug 2017 09:09

Repository Staff Only: item control page